US20210223144A1 - Water sampling device - Google Patents
Water sampling device Download PDFInfo
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- US20210223144A1 US20210223144A1 US17/067,270 US202017067270A US2021223144A1 US 20210223144 A1 US20210223144 A1 US 20210223144A1 US 202017067270 A US202017067270 A US 202017067270A US 2021223144 A1 US2021223144 A1 US 2021223144A1
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- adaptor
- cage
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Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/12—Dippers; Dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B64C2201/027—
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- B64C2201/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
- B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/12—Dippers; Dredgers
- G01N1/125—Dippers; Dredgers adapted for sampling molten metals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1006—Dispersed solids
Definitions
- the present disclosure relates to a water sampling device. More particularly, the present disclosure relates to such a water sampling device that connects to an Unmanned Aerial Vehicle (“UAV”).
- UAV Unmanned Aerial Vehicle
- water sampling is a relatively simple mission for UAVs.
- an empty water sampling vessel creates a force (buoyancy) that affects the UAV dynamics and might risk the operation.
- Other water sampling devices have not been able to offset buoyancy or instead poorly affect pitch, roll and yaw.
- a water sampling device is provided that offsets for buoyancy and balances weight on a UAV.
- the water sampling device is able to be easily assembled and attached and detached from a UAV, even when the UAV is hovering over a user.
- the water sampling device can be attached and detached to the UAV even with one hand.
- FIG. 1 is a schematic illustration of a UAV connected to an embodiment of a water sampling device according to the present disclosure in a first position.
- FIG. 2 is a schematic illustration of the UAV connected to the water sampling device of FIG. 1 in a second position.
- FIG. 3 is a bottom perspective view of the water sampling device.
- FIG. 4 is an exploded front view of the water sampling device.
- FIG. 5 is a partial enlarged view of FIG. 4 showing a bottle, a bottle cage and a partial view of a pole assembly.
- FIG. 6 is a partial enlarged view of FIG. 4 showing a partial view of the pole assembly.
- FIG. 7 is a partial enlarged view of FIG. 4 showing an adaptor and a partial view of the pole assembly.
- FIG. 8 is a partial side view of the pole assembly.
- FIG. 9 is a partial top view of the pole assembly.
- FIG. 10 is a front view of a first pole member and a first member connector of the pole assembly showing the first pole member in cross-section.
- FIG. 11 is a front view of a second pole member and a second member connector of the pole assembly showing the second pole member in cross-section.
- FIG. 12 is an exploded top perspective view of the adaptor.
- FIG. 13 is a top view of the adaptor in a non-use position.
- FIG. 14 is a top view of the adaptor in a use position connected to a UAV that is partially shown.
- FIG. 15 is a front view of an example of the water sampling device of the present disclosure.
- FIG. 16 is an enlarged partial view of the bottle cage of the water sampling device of FIG. 15 .
- FIG. 17 is an enlarged partial view of the drone adaptor of the water sampling device of FIG. 15 .
- FIG. 18 is an enlarged partial view of a second member connector of the water sampling device of FIG. 15 .
- FIG. 19 is an enlarged partial view of the bottle cage the water sampling device of FIG. 15 .
- FIG. 20 is a schematic illustration of a UAV connected to another embodiment of the water sampling device according to the present disclosure in a first position.
- FIG. 21 is a schematic illustration of the UAV connected to the water sampling device of FIG. 20 in a second position.
- FIG. 22 is a bottom perspective view of the water sampling device of FIG. 20 .
- FIG. 23 is front perspective view of a water sampling bottle loaded into a bottle cage.
- FIG. 24 is a front perspective view of the bottle and opened bottle cage of FIG. 23 , showing partial enlarged views of the bottle cage.
- FIG. 25 is a bottom perspective view of the opened bottle cage of FIG. 23 .
- FIG. 26 is top perspective view of the water sampling device of FIG. 20 , showing partial enlarged views of the bottle cage and pole assembly.
- FIG. 27 is a cross section view of a portion of the pole assembly shown in the partial enlarged view of FIG. 26 .
- FIG. 28 is an exploded bottom perspective view of the water sampling device of FIG. 22 , showing partial enlarged views of the bottle cage and pole assembly.
- FIG. 29 is perspective view of an internal attachment mechanism of the pole assembly.
- FIG. 30 is a side view of a first pole of the pole assembly.
- FIG. 31 is a top view of the pole as shown in FIG. 30 .
- FIG. 32 is a side view of a second pole of the pole assembly.
- FIG. 33 is a top view of the pole as shown in FIG. 32 .
- FIG. 34 is an exploded front view of the water sampling device of FIG. 22 , showing partial enlarged cross-sectional views of the pole assembly and UAV connection adaptor.
- FIG. 35 is a top view of the UAV connection adaptor of the water sampling device of FIG. 22 .
- FIG. 36 is an exploded perspective view of the UAV connection adaptor, and a partial view of the pole assembly of the water sampling device of FIG. 22 .
- FIG. 37 is a top cross-sectional view of the UAV connection adaptor shown in FIG. 35 .
- FIG. 38 is a partial side cross-section view of the UAV connection adaptor and pole assembly of the water sampling device of FIG. 22 .
- FIG. 39 is a perspective view of a pulley mechanism housed in the UAV connection adaptor.
- FIG. 40 is a partial top view of an opened UAV connection adaptor as shown in FIG. 35 .
- FIG. 41 is a bottom perspective view of the water sampling device of FIG. 22 , showing the UAV connection adaptor connected to UAV bars.
- FIG. 42 is a side view of the water sampling device of FIG. 20 showing the pole assembly reversibly bending when the water sampling device is subjected to forces and shows a partial enlarged view of the water sampling device.
- FIG. 1 A water sampling device 100 according to an embodiment of the disclosure is shown in FIG. 1 .
- Water sampling device 100 is a device that connects to UAVs, for example, a UAV 200 , and enables sampling and surveying of water (or other liquids) reservoirs, for example, reservoir 300 .
- a main advantage of water sampling device 100 is to allow remote material sampling, from any location in reservoir 300 .
- Water sampling device 100 is designed and optimized to fit most industrial grade drones without risking the vehicle dynamics.
- Water sampling device 100 connects to UAV 200 so that water sampling device 100 moves with UAV 200 .
- UAV 200 can move water sampling device 100 to move a bottle 110 that will hold the collected sample of liquid.
- water sampling is a relatively simple mission for UAVs, for example, UAV 200 .
- an empty water sampling vessel for example, bottle 110
- force F B buoyancy
- a mass of water sampling device 100 should be slightly higher than force F B that is the buoyancy force.
- force F g must be greater than a force applied by water sampling device F B as set forth in the following:
- F B Force that is created due to submerged volume of water sampling device 100
- F g Force that is created due to gravity
- the mass of UAV 200 is considered to be zero due to hovering.
- water sampling device 100 has bottle 110 , a bottle cage 120 , pole assembly 400 and a device adaptor 500 .
- Water sampling device 100 has, for example, a weight of about 1.3 Kg.
- Water sampling device 100 for example, is made of plastic that can be recyclable and reusable.
- bottle 110 is a vessel with an opening on a surface facing adaptor 500 that can hold liquids.
- Bottle 110 is plastic so as to be disposable. Prior techniques for water sampling required a person to submerge their gloved arm in liquid that was being sampled which led to contamination problems. Other water sampling required water sampling bottles, for example, stainless steel bottles, to be sterilized. Stainless steel is undesirably heavy to be carried by UAVs. Further sterilization of stainless-steel bottles takes time as compared to disposable bottles.
- bottle 110 can be a material that is reusable and can be sterilized between uses.
- Bottle cage 120 is made from plastic, for example, from Nylon having a density of 1.15 kg/m 3 .
- Bottle 110 can be removably secured in bottle cage 120 .
- Bottle 110 is inserted into a bottom 121 of bottle cage 120 .
- bottom 121 of bottle cage 120 has a slightly protruding flexing tab 123 ( FIG. 19 ) that secures the bottle and when pulling back the tab, it allows the bottle 110 to be pulled or pushed from bottle cage 120 .
- a sliding lever (not shown) connected to the bottom of the bottle cage can be pushed towards or pulled away to secure and release the bottle. This would allow the bottle to drop out of the bottle cage without any pulling or pushing needed.
- Bottle cage 120 has a cage connector 122 that is connectable to pole connector 418 of pole assembly 400 .
- Cage connector 122 has protrusions 124 , 126 that each fit in one of holes 420 , 422 through pole connector 418 by snap fit.
- cage connector 122 has slits 1900 forming flaps 1902 that deform inward and overcome a bias of materials of flaps 1902 when inserted into pole connector 418 due to a size of an opening into pole connector 418 .
- cage connector 122 can then be rotated so that protrusions 124 , 126 become aligned with holes 420 , 422 and flaps 1902 move outward due to the bias of the materials of flaps 1902 to insert protrusions 124 , 126 into holes 420 and 422 respectively; thereby maintaining a connection between cage connector 122 and pole connector 418 .
- Pole assembly 400 has a first pole member 408 and a second pole member 421 .
- Pole connector 418 is a tube that is open inside to receive a portion of second pole member 421 .
- Pole connector 418 has holes 424 , 426 on an end on an opposite side of pole connector 418 that has holes 420 , 422 .
- Second pole member 421 has holes 428 , 430 .
- Holes 424 , 426 through opposite sides of pole connector 418 and holes 428 , 430 through opposite sides of second pole member 421 align allowing a bolt 432 to pass through each of holes 424 , 426 and holes 428 , 430 and receive a nut 434 to connect pole connector 418 to second pole member 421 .
- first pole member 408 has holes 436 , 438 on opposite sides of end 437 .
- Pole assembly 400 has a first member connector 440 that has holes 442 , 444 on opposite sides.
- Hole 436 through first pole member 408 and hole 442 through first member connector 440 align to allow a screw 446 to pass through each.
- Hole 438 through first pole member 408 and hole 444 through first member connector 440 align to allow a screw 448 to pass through each to connect first pole member 408 to first member connector 440 .
- second pole member 421 has holes 450 , 452 on opposite sides of end 451 .
- Pole assembly 400 has a second member connector 454 that has holes 456 , 458 on opposite sides.
- Hole 450 through second pole member 421 and hole 456 through second member connector 454 align to allow a screw 460 to pass through each
- hole 452 through second pole member 421 and hole 458 through second member connector 454 align to allow a screw 462 to pass through each to connect second pole member 421 to second member connector 454 .
- Second member connector 454 has an extension 464 having a protrusion 468 at an end opposite a location of holes 456 , 458 .
- First member connector 440 has a recess that has a shape complementary to protrusion 468 and a portion of extension 464 .
- Protrusion 468 and the portion of extension 464 are inserted in the recess of first member connector 440 to connect first member connector 440 , and second member connector 454 by snap fit to connect first pole member 408 and second pole member 421 .
- extension 464 has a slot 469 forming a gap 471 between a first arm 473 and a second arm 475 .
- a first portion 477 of protrusion 468 extends from first arm 473 .
- a second portion 479 of protrusion 468 extends from second arm 475 .
- first arm 473 and second arm 475 deform toward one another and overcome a bias of materials of first arm 473 and second arm 475 due to a size of the opening 441 in first member connector 440 .
- extension 464 enters the recess of first member connector 440 first arm 473 and second arm 475 move outward away from one another due to the bias of the materials of first arm 473 and second arm 475 to maintain protrusion 468 in the recess of first member connector 440 and maintaining second member connector 454 connected to first member connector 440 .
- a shape of protrusion 468 allows protrusion 468 to rotate in the recess of first member connector 440 so that second member connector 454 can rotate relative to first member connector 440 .
- a force is applied to first member connector 440 and/or second member connector 454 to pull first member connector 440 and second member connector 454 apart thereby moving protrusion 468 against the recess of first member connector 440 and moving first arm 473 and second arm 475 toward one another so that protrusion 468 can be moved out of the recess of first member connector 440 to disconnect second member connector 454 from first member connector 440 .
- Pole assembly 400 having two parts, namely, first pole member 408 and second pole member 421 , allow for easy handling and shipping.
- device adaptor 500 is connected to pole assembly 400 by bolts 509 , 503 , 507 , 505 that each pass through one of holes 520 , 521 , 522 , 523 ( FIG. 12 ), respectively, through adaptor 500 , and then through one of dampers 600 , 601 , 602 , 603 , and thereafter through one of four holes in pole adaptor 402 of pole assembly 400 , and are secured in place by one of nuts 404 , 413 , 406 , 407 , respectively.
- Water sampling device 100 has dampers 600 , 601 , 602 , 603 between pole adaptor 402 and device adaptor 500 when assembled. Dampers 600 , 601 , 602 , 603 act as shock absorbers between pole adaptor 402 and device adaptor 500 when assembled. Dampers 600 , 601 , 602 , 603 can become compressed between pole adaptor 402 and device adaptor 500 when UAV 200 is in flight and when bottle cage 120 is submerged and can thereby absorb shock by mitigating the forces acting on UAV 200 during flight.
- Pole adaptor 402 is connected to a first pole member 408 by a pin 410 .
- Pin 410 has a gripping member 412 on a first side and a spring-loaded pair of retractable members 414 on opposite sides of a second side.
- Retractable members 414 retract into a pin body 416 when a force is applied to overcome a force applied by one or more springs urging retractable members 414 outward to extend out of pin body 416 when a force less than the force applied by one or more springs is applied.
- holes 411 , 409 through opposite sides of first pole member 408 and holes through opposite sides of pole adaptor 402 align allowing retractable members 414 of pin 410 to retract when passing therethrough and extend thereafter to connect device adaptor 500 to pole assembly 400 .
- a universal pole member 800 can be used as both first pole member 408 and second pole member 421 so that first pole member 408 is the same as second pole member 421 turned upside-down.
- Universal pole member 800 can be about 19.685 inches long, about 1 inch wide, and have a thickness of about 0.125 inches.
- Holes 802 can be about 1.125 inches from a first end 803 .
- Holes 802 can be 0.25 inches in diameter.
- Holes 804 can be about 0.500 inches from a second end 805 .
- Holes 804 can be 0.375 inches in diameter.
- device adaptor 500 has an adaptor body 502 , a first movable arm 504 , a second movable arm 506 , a first spring 508 , a second spring 510 , a first rod 512 and a second rod 514 .
- Adaptor body 502 has a first fixed arm 516 and a second fixed arm 518 .
- Adaptor 500 has holes 520 , 521 , 522 , 523 from an upper surface 515 through a lower surface 517 in a central portion 501 of adaptor body 502 .
- Adaptor 500 has apertures 524 , 526 , 528 , 530 around a center of adaptor body 502 forming a cross shape.
- Apertures 524 , 526 , 528 , 530 form the cross shape, or in other words, an X design, and allow adaptor 500 to maximize strength, yet be easy to manufacture while using the least amount of material.
- Using the least amount of material for adaptor 500 keeps payload weight down, which is desirable with UAVs, as well as helps control manufacturing costs.
- Using the least amount of material uses the least amount of plastic as possible.
- First fixed arm 516 has a fastener 532 .
- Second fixed arm 518 has a fastener 534 .
- First movable arm 504 has a fastener 536 .
- Second movable arm 506 has a fastener 538 .
- Each of fasteners 532 , 534 , 536 , 538 is C-shaped.
- Fastener 532 of first fixed arm 516 extends from a support 540 that extends from central portion 501 .
- Fastener 534 of second fixed arm 518 extends from a support 542 that extends from central portion 501 .
- Adaptor body 502 has a first cavity 544 with an opening 546 opposite first fixed arm 516 .
- Adaptor body 502 has a second cavity 548 with an opening 550 opposite second fixed arm 518 .
- Adaptor body 502 has first track openings 552 through each of upper surface 515 and lower surface 517 of support 540 .
- Adaptor body 502 has a second track openings 554 through each of upper surface 515 and lower surface 517 of support 542 .
- Fastener 536 of first movable arm 504 extends from a support 556 .
- Support 556 has a hole 558 therethrough and a protrusion 560 on a surface opposite fastener 536 .
- Fastener 538 of second movable arm 506 extends from a support 562 .
- Support 562 has a hole 564 therethrough and a protrusion 566 on a surface opposite fastener 538 .
- first spring 508 is positioned in first cavity 544 .
- Protrusion 560 of first movable arm 504 is then fit in first spring 508 and first movable arm 504 is moved in a direction 568 to overcome an outward bias of first spring 508 that is in a direction 570 .
- first rod 512 is inserted through first track opening 552 through upper surface 515 , through hole 558 and through first track opening 552 through lower surface 517 to maintain a portion of support 556 in first cavity 544 to connect first movable arm 504 in adaptor body 502 .
- Second spring 510 is positioned in second cavity 548 .
- Protrusion 566 of second movable arm 506 is then fit in second spring 510 and second movable arm 506 is moved in direction 568 to overcome an outward bias of second spring 510 that is in a direction 570 .
- second rod 514 is inserted through second track opening 554 through upper surface 515 , through hole 564 and through second track opening 554 through lower surface 517 to maintain a portion of support 562 in second cavity 544 to connect second movable arm 506 in adaptor body 502 .
- a force that overcomes the bias of first spring 508 is applied to fastener 536 of first movable arm 504 to move first movable arm 504 in direction 568 .
- Releasing of the force that overcomes the bias of first spring 508 moves first movable arm 504 back in direction 570 .
- a force that overcomes the bias of second spring 510 is applied to fastener 538 of second movable arm 506 to move second movable arm 506 in direction 568 .
- Releasing of the force that overcomes the bias of second spring 510 applied to fastener 538 of second movable arm 506 moves second movable arm 506 back in direction 570 .
- UAV 200 has a first bar 202 and a second bar 204 .
- UAV 200 hovers while water sampling device 100 is connected.
- Second bar 204 is received by fastener 532 of first fixed arm 516 and fastener 534 of second fixed arm 518 .
- fastener 536 of first movable arm 504 and fastener 538 of second movable arm 506 are pressed against first bar 202 to apply a force that overcomes the bias of first spring 508 applied to fastener 536 of first movable arm 504 to move first movable arm 504 in direction 568 and apply a force that overcomes the bias of second spring 510 applied to fastener 538 of second movable arm 506 to move second movable arm 506 in direction 568 so that fastener 536 of first movable arm 504 and fastener 538 of second movable arm 506 receive first bar 202 .
- first spring 508 urges fastener 536 of first movable arm 504 against first bar 202 and the bias of second spring 510 urges fastener 538 of second movable arm 506 against first bar 202 .
- the bias of first spring 508 and the bias of second spring 510 also urges first fixed arm 516 and second fixed arm 518 against second bar 204 , to maintain adaptor 500 connected to first bar 202 and second bar 204 .
- Device adaptor 500 has a first side 901 , a second side 902 , a third side 903 and a fourth side 904 as shown on FIG. 14 .
- fastener 536 of first movable arm 504 and fastener 538 of second movable arm 506 receive first bar 202 .
- a force is applied to adaptor 500 that overcomes the bias of first spring 508 applied to fastener 536 of first movable arm 504 to move first movable arm 504 in direction 568 and that overcomes the bias of second spring 510 applied to fastener 538 of second movable arm 506 to move second movable arm 506 in direction 568 so that fastener 532 of first fixed arm 516 and fastener 534 of second fixed arm 518 can receive second bar 204 .
- a user can grasp pole assembly 400 with one hand to connect adaptor 500 to first bar 202 and second bar 204 as described herein.
- UAV 200 hovers while water sampling device 100 is disconnected.
- Adaptor 500 can be removed from first bar 202 and second bar 204 , by the user applying a force in direction 570 allowing fastener 532 of first fixed arm 516 and fastener 534 of second fixed arm 518 to separate from second bar 204 , then, fastener 536 of first movable arm 504 and fastener 538 of second movable arm 506 can disconnect from first bar 202 separating adaptor 500 from UAV.
- a user can grasp pole assembly 400 with one hand to disconnect adaptor 500 to first bar 202 and second bar 204 as described herein. Accordingly, adaptor 500 is a quick release adaptor that can be connected and disconnected to a UAV by one hand.
- An additional failsafe can be added to adaptor 500 in case the spring loaded first movable arm 504 and second movable arm 506 fail in mid-air, although they should not fail as each individual spring of first spring 508 and second spring 510 would have to fail simultaneously and they are independent of each other. This provides additional safety redundancy to water sampling device 100 .
- An additional failsafe can be added to the bottom of bottle cage 120 .
- UAV 200 does not have a first bar 202 and a second bar 204 , then UAV can be subsequently modified to include first bar 202 and second bar 204 .
- Water sampling device 100 is designed to plunge below the surface because it is important not to gather the surface water for most water sampling testing. Other water sampling devices have not been able to offset buoyancy or effect pitch, roll and yaw poorly. These other devices simply float on the water which is undesirable. Water sampling device 100 , besides for offsetting buoyancy, also balances weight on UAV 200 properly. As discussed above, water sampling is a relatively simple mission for UAVs. However, after some tests, it shows that an empty water sampling vessel creates force (buoyancy) that is affecting the UAV dynamics and might risk the operation. For reference, using a 330 mL sampling bottle and a 1 meter pole, will force the UAV to Roll compensate for 3.3 Nm.
- the mass of water sampling device 100 should be slightly higher than the buoyancy force.
- Roll is one of the forces in aerodynamics.
- Pitch, Roll and Yaw are also known as the “Principal Axes” or “Axes of Rotation”, that include: Lateral Axis (Pitch), Longitudinal Axis (Roll) and Vertical Axis (Yaw). It is important that the UAV, with water sampling device 100 , not compromise the flying safety (pitch, roll, yaw) of the drone.
- FIGS. 15-17 are examples of water sampling device 100 of the present disclosure as described herein.
- FIGS. 18-19 are described above.
- a water sampling device 1000 is shown in FIG. 20 .
- Water sampling device 1000 is a device that connects to UAVs, for example, a UAV 200 , and enables sampling and surveying of water (or other liquids) reservoirs, for example, reservoir 300 .
- a main advantage of water sampling device 1000 is to allow remote material sampling, from any location in reservoir 300 .
- Water sampling device 1000 is designed and optimized to fit most industrial grade drones (UAVs) without risking the vehicle dynamics.
- UAVs industrial grade drones
- Water sampling device 1000 connects to UAV 200 so that water sampling device 1000 moves with UAV 200 .
- UAV 200 can move water sampling device 1000 to move a bottle 1110 that will hold the collected sample of liquid.
- Bottle 1110 is contained within a bottle cage 1120 .
- water sampling is a relatively simple mission for UAVs, for example, UAV 200 .
- an empty water sampling vessel for example, bottle 1110
- force F B buoyancy
- a mass of water sampling device 1000 should be slightly higher than force F B that is the buoyancy force.
- force F g must be greater than a force applied by water sampling device F B as set forth in the following:
- F B Force that is created due to submerged volume of water sampling device 1000
- F g Force that is created due to gravity
- the mass of UAV 200 is considered to be zero due to hovering.
- water sampling device 1000 has bottle 1110 , a bottle cage 1120 , pole assembly 1400 and a device adaptor 1500 .
- Water sampling device 1000 has, for example, a weight of about 1.215 Kg
- Water sampling device 1000 is made of plastic that can be recyclable and reusable and from carbon fiber.
- Adaptor 1500 , bottle 1110 and bottle cage 1120 can be made from plastic such as Nylon.
- the poles 1410 and 1460 can be made from carbon fiber.
- Pole assembly 1400 includes a first pole 1410 that connects the bottle cage 1120 and a second pole 1460 .
- Second pole 1460 connects to device adaptor 1500 .
- Device adaptor 1500 is able to connect to UAV 200 .
- poles 1410 and 1460 can be hollow rounded cylindrical poles or hollow hexagonal poles.
- bottle 1110 is a vessel with an opening 1111 that can hold liquids, that when inserted into bottle cage 1120 , opening 1111 faces adaptor 1500 , and the bottom 1115 of bottle 1110 rests on an interior base 1118 of bottle cage 1120 .
- Bottle 1110 is plastic so as to be disposable.
- bottle 1110 can be glass to collect certain types of liquid samples.
- Bottle 1110 can be adapted to be made of different materials and can be made into different sizes based on various needs.
- bottle 1110 can be a material that is reusable and can be sterilized between uses.
- Bottle cage 1120 is made from plastic, for example, from having a density of 1.15 kg/m 3 , or in the case of SLS 3D printed Nylon a density of 0.95 kg/m 3 .
- Bottle 1110 can be removably secured in bottle cage 1120 , by opening bottle cage door 1125 , inserting bottle 1110 in bottle cage 1120 and closing cage door 1125 .
- Bottle cage door 1125 and bottle cage 1120 have a cutout portion 1130 that a user hands can use to grasp and open and close bottle cage door 1125 .
- Bottle cage 1120 can also have a cutout 1145 so as to reduce the weight of bottle cage 1120 .
- Bottle cage 1120 also has a weighted base 1135 , made of a denser material than the rest of bottle cage 1120 , so that the center of gravity of the bottle cage 1120 becomes shifted towards the bottom or base of bottle cage 1120 .
- Weighted base 1135 is advantageous because the additional weight allows device 1000 to more easily penetrate the surface of a liquid reservoir 300 , by offsetting the buoyancy forces of the empty bottle 1110 .
- Weighted base 1135 can also serve as a protection for cage 1120 and bottle 1110 , against device 1000 hitting hard objects such as rocks or debris in the vicinity of the area targeted for liquid sample collection.
- weighted based 1135 can have one or more drain holes 1136 so that when bottle cage 1120 becomes submerged in a liquid, the liquid can drain out through the holes 1136 when the bottle cage 1120 is lifted out of the liquid by UAV 200 .
- base 1135 has six holes 1136 .
- Base 1118 can have multiple openings 1117 providing access to drains holes 1136 in base 1135 . Openings 1117 also reduce the weight of bottle cage 1120 .
- weighted base 1135 is connected to the base 1118 of cage 1120 by bolts 1137 .
- Bottle cage 1120 has a cage connector 1155 that is connectable to pole 1410 of pole assembly 1400 .
- Cage connector 1155 has holes 1150 and 1151 for connection to pole 1410 .
- Cage connector 1155 can be hexagonally shaped and sized so as to accept the insertion and detachable connection of pole 1410 , that can also be hexagonally shaped.
- Bottle cage 1120 has a retaining portion 1140 that curves inward toward the center of bottle cage 1120 , and surrounds and retains bottle lip 1112 and curved portion 1114 of bottle 1110 . Retaining portion 1140 ensures that bottle 1110 does not move about freely within cage 1120 , while also ensuring that opening 1111 of bottle 1110 is not obstructed, so that when bottle 1110 is submerged, liquids can enter opening 1111 .
- Bottle cage door 1125 has identical locking mechanisms 1160 and 1161 that are capable of being biased into cage door 1125 from a first starting or non-biased position when cage 1125 is being closed.
- locking mechanisms 1160 and 1161 are able to return to their original starting or non-biased positions and become retained in identical recesses 1170 and 1171 that are in bottle cage 1120 , thereby preventing bottle cage door 1125 from opening during operation and movement of UAV 200 .
- Bottle cage door 1125 is capable of being opened by a user applying sufficient force to pull cage door 1125 open, thereby causing locking mechanisms 1160 and 1161 , to be again biased into cage door 1125 , and releasing the locking mechanisms from recesses 1170 and 1171 .
- locking mechanisms 1160 and 1161 are spring loaded ball bearings or spring-loaded plungers capable of being retained in cage door 1125 .
- locking mechanisms 1160 and 1161 can be made of stainless steel.
- pole 1410 has a first end 1411 , that is insertable into cage connector 1155 .
- Pole 1410 contains holes 1413 and 1414 on opposing parallel surfaces near first end 1411 , through which locking pins 1426 and 1427 of locking mechanism 1425 protrude through.
- locking mechanism 1425 is a single flexible unitary mechanism so that when first end 1411 is first inserted into cage connector 1155 , locking pins 1426 and 1427 are biased inward towards the center of pole 1410 .
- locking mechanism 1425 can be spring steel button pins that are made of stainless steel and use a spring force to produce the biasing force described above.
- locking pins 1426 and 1427 return to their original unbiased positions, and protrude through openings 1150 and 1151 of cage connector 1155 , thereby locking pole 1410 to bottle cage 1120 .
- locking pins 1426 and 1427 can be biased or pressed inward, and pole 1410 can be pulled out of cage connector 1155 .
- pole 1410 contains within it, an attachment mechanism 1430 that is capable of parallel movement with respect to the length of pole assembly 1400 .
- Attachment mechanism 1430 has a center pole piece 1435 , that is hollow and can be hexagonal. Attachment mechanism 1430 is also shown in FIG. 29 . Attachment mechanism 1430 is able to move towards and away from bottle cage 1120 , while in pole 1410 , with its movement being limited by the length of slots 1440 and 1441 as shown in FIG. 30 .
- Attachment mechanism 1430 has a center rod 1433 on which a first and second grip 1431 and 1432 are attached thereon. When mechanism 1430 is placed in pole 1410 , center rod 1433 and grips 1431 and 1432 protrude from slots 1440 and 1441 .
- One or more pulley cables are able to be attached to center rod 1433 , as shown in FIG. 38 . In some embodiments, four pulley cables are attached to center rod 1433 .
- pole 1410 has a second locking mechanism 1450 that is identical to the first locking mechanism 1425 .
- Locking mechanism 1450 has locking pins 1451 and 1452 that protrude from holes 1416 and 1415 that are located on opposite surfaces of pole 1410 and is located near the second end 1412 of pole 1410 .
- Locking pins 1451 and 1452 are able to be biased inward towards the center of pole 1410 , so that pole 1410 can be inserted into pole 1460 .
- Pole 1460 has a first end 1461 into which the second end 1412 of pole 1410 is inserted.
- locking pins 1451 and 1452 are able to return back to their original unbiased positions and protrude through openings 1464 and 1463 of pole 1460 , thereby locking poles 1460 and 1410 together.
- locking pins 1451 and 1452 can be biased or pressed inward, and pole 1410 can be pulled out of pole 1460 .
- Pole 1460 has a third locking mechanism 1470 that is identical to the first and second locking mechanisms 1425 and 1450 .
- Locking mechanism 1470 has locking pins 1471 and 1472 that protrude from holes 1417 and 1418 located on opposite surfaces of pole 1460 , and near the second end 1462 of pole 1460 .
- Locking pins 1471 and 1472 are able to be biased inward towards the center of pole 1460 , so that pole 1460 can be inserted into attachment 1480 .
- Attachment 1480 has holes 1483 and 1484 , a first end 1481 and a second end 1482 .
- locking pins 1471 and 1472 are able to return back to their original unbiased positions and protrude through openings 1484 and 1483 of attachment 1480 , thereby locking pole 1460 and attachment 1480 together.
- locking pins 1471 and 1472 can be biased or pressed inward, and pole 1460 can be pulled out of attachment 1480 .
- attachment mechanism 1430 is shown. Attachment mechanism 1430 is able to slide towards and away from cage 1120 , while contained in pole 1410 .
- Center rod 1433 runs through pole piece 1435 and can connect to one or more pulley cables. In a preferred embodiment, center rod 1433 is can connect with four pulley cables in the body cavity of pole piece 1435 .
- Holes 1414 and 1413 are 10 millimeters (mm) away from the first end 1411 , and both have a radius of 7 (mm).
- Slots 1441 and 1440 have a first rounded end 1442 and a second rounded end 1443 .
- Second rounded end 1443 has a radius of 3.25 (mm) and is 70 (mm) away from first end 1411 .
- First rounded end 1442 has a radius of 3.25 (mm) and is 95 (mm) away from first end 1411 .
- Slots 1441 and 1440 both have length of 25 (mm) from end to end and have a width of 6.5 (mm).
- Holes 1416 and 1415 are 25 (mm) away from the second end 1412 , and both have a radius of 7 (mm).
- first pole 1410 is hollow and has an outer diameter or width of 21.59 (mm) and an inner diameter or width of 19.05 (mm), and a total length of 500 (mm).
- Holes 1464 and 1463 are 25 (mm) away from the first end 1461 , and both holes have a radius of 7 (mm).
- Holes 1417 and 1418 are 12.7 (mm) away from the second end 1462 , and both have a radius of 7 (mm).
- second pole 1460 is hollow and has an outer diameter of 24.76 (mm) and an inner diameter of 22.23 (mm), and a total length of 500 (mm).
- device adaptor 1500 is connected to attachment 1480 by bolts 1511 , 1512 , 1513 and 1514 , that pass through holes 1501 , 1502 , 1503 and 1504 , respectively, in adaptor 1500 , and through individual dampers 1491 , 1492 , 1493 , and 1494 and pass through holes 1495 , 1496 , 1497 and 1498 , respectively, in attachment 1480 , and are connected to and secured by nuts 1484 , 1485 , 1486 and 1487 , respectively.
- device adaptor 1500 has arm attachment blocks 1531 , 1532 , 1533 and 1534 each having fastener portions 1700 that can attach to a UAV bar.
- Each fastener 1700 can be “C” shaped, so as to releasably snap fit to one of UAV bars 202 or 204 .
- Arm attachment blocks 1531 , 1532 , 1533 and 1534 are housed respectively in compartments 1541 , 1542 , 1543 and 1544 .
- Arm attachments 1531 and 1532 are able to attach by snap fit to first UAV bar 202
- arm attachments 1533 and 1534 are able to attach by snap fit to a second UAV bar 204 of UAV 200 , as shown in FIG.
- Device adaptor 1500 has a first side 1521 , a second side 1522 and a middle section 1525 .
- First side 1521 includes first and second compartments 1541 and 1542 , that house arm blocks 1531 and 1532 , respectively.
- the fastener portions 1700 of arm blocks 1531 and 1532 face opposite directions when arm blocks 1531 and 1532 are housed in compartments 1541 and 1542 respectively and are able to contact and connect to separate bars 202 and 204 respectively on UAV 200 .
- First side 1521 is connected to second side 1522 by a middle section 1525 having a middle chamber 1650 that houses the pulley mechanism 1600 , pulley cables 1601 , 1602 , 1603 , and 1604 , and rollers 1611 and 1612 as shown in FIG.
- Second side 1522 includes third and fourth compartments 1543 and 1544 , that house arm blocks 1533 and 1534 respectively.
- the fastener portions 1700 of arm blocks 1533 and 1534 face opposite directions when arm blocks 1533 and 1534 are housed in compartments 1543 and 1544 respectively and are able to contact and connect to separate bars 204 and 202 respectively on UAV 200 .
- the fasteners 1700 of arm blocks 1531 and 1534 face the same direction, and together are able to snap fit and detachably connect to first bar 202 of UAV 200 .
- the fasteners 1700 of arm blocks 1532 and 1533 face the same direction, and together are able to snap fit and detachably connect to second bar 204 of UAV 200 .
- Device adaptor 1500 has a first side 1521 , a second side 1522 , a third side 1523 and a fourth side 1524 as shown on FIG. 35 .
- Device adaptor 1500 has braces 1551 , 1552 , 1553 , and 1554 that each attach from a first end, to either a first or second side 1521 and 1522 as shown and attach on a second end to the middle portion 1525 .
- the braces 1551 , 1552 , 1553 , and 1554 provide added rigidity to the adaptor 1500 .
- Triangularly shaped holes between each of the braces 1551 , 1552 , 1553 , and 1554 and the middle portion 1525 ensure that additional weight is not added to device adaptor 1500 .
- Each of compartments 1541 , 1542 , 1543 and 1544 have inner walls 1581 and outer walls 1582 , and top and bottom walls 1583 and 1584 , that together each define a cavity 1560 .
- Each cavity 1560 of each compartment 1541 , 1542 , 1543 and 1544 provides space to house one of the arm attachment blocks 1531 , 1532 , 1533 and 1534 .
- Inner walls 1581 face towards center portion 1525
- outer walls 1582 face away from center portion 1525 .
- Top walls 1583 face UAV 200
- bottom walls 1584 face cage 1120 .
- Inner walls 1581 have compartment slots 1556
- outer walls 1582 have compartment slots 1555 . Slots 1555 and 1556 are identical and placed on opposing walls 1582 and 1581 with respect to each other.
- Arm attachment blocks 1531 , 1532 , 1533 and 1534 are all identical to each other.
- Each of the attachment blocks 1531 , 1532 , 1533 and 1534 have an upper surface 1585 and an opposing lower surface 1586 , and first and second opposing side surfaces 1587 and 1588 .
- upper surface 1585 faces towards UAV 200
- lower surface 1586 faces towards cage 1120 .
- First and second side surfaces 1587 and 1588 each have a pair of circular recesses 1591 and 1590 in attachment blocks 1531 , 1532 , 1533 and 1534 that are able to house and retain portions of cylindrical pin pairs 1558 and 1557 .
- Each arm attachment block 1531 , 1532 , 1533 and 1534 has a cylindrical cavity 1566 , having a circular opening on inner surface 1567 of each attachment block.
- Inner surface 1567 of each attachment block is the surface that is first loaded into each cavity 1560 when the attachment blocks are housed in each compartment 1541 , 1542 , 1543 and 1544 .
- a spring 1565 is housed in each cylindrical cavity 1566 of each arm attachment block 1531 , 1532 , 1533 and 1534 .
- Each spring 1565 when loaded into an arm block that is then installed in a chamber of the device adaptor, is compressed between the arm block and an interior wall 1599 of each chamber, and thereby provides a biasing force against each arm block as shown in FIG. 38 .
- Each cylindrical cavity 1567 has a circular opening with a diameter that is greater than the diameter of the coils of each of springs 1565 .
- the top surface 1585 of each attachment block 1531 , 1532 , 1533 and 1534 has two rectangularly shaped openings 1596 and 1597 , that provide access to each cylindrical cavity 1566 , so that pulley cables 1601 , 1602 , 1603 and 1604 are able to be guided through the openings 1597 and 1596 and become retained and held in cylindrical cavity 1566 .
- Opening 1597 is wider than opening 1596 , and also wider than retaining end 1607 .
- Opening 1596 is wider than each pulley cable 1601 , 1602 , 1603 and 1604 .
- Each pulley cable 1601 , 1602 , 1603 and 1604 is able be routed lengthwise through a center of each spring 1565 .
- Each of compartments 1541 , 1542 , 1543 and 1544 have a hole or recess 1570 which provides access from middle chamber 1650 to each compartment for each of pulley cables 1601 , 1602 , 1603 , and 1604 .
- Chamber 1650 has a hollow portion that provides a hole or entry at a bottom portion of adaptor 1500 , which allows pulley cables 1601 , 1602 , 1603 and 1604 to be guided through hollow tubes 1410 , 1460 , and through attachment 1480 and into adaptor 1500 .
- Pulley cables 1601 , 1602 , 1603 and 1604 are then guided and placed onto pulley mechanism 1600 , housed in chamber 1650 , as shown in FIGS. 36, 37 and 40 .
- pulley cables 1601 , 1602 , 1603 and 1604 each have first ends 1605 and second ends 1606 .
- the first end 1605 of each pulley cable is connected to or tied to center rod 1433 of attachment mechanism 1430 .
- Each second end 1606 of each cable is connected to a retaining end 1607 .
- Retaining end 1607 can be cylindrical in shape. Retaining ends 1607 are able to fit into openings 1597 in each attachment arm, and each pulley cable is meant to be able to fit into opening 1596 .
- Each pulley cable 1601 , 1602 , 1603 and 1604 is able to be routed through the hollow internal portion of poles 1410 and 1460 , through attachment 1480 and into compartment 1650 of adaptor 1500 .
- Pulley mechanism 1600 includes a bolt 1627 , and pulleys 1621 , 1622 , 1623 and 1624 and nut 1628 .
- Bolt 1627 runs through a hole 1670 in the center portion 1525 , through the center of pulleys 1621 , 1622 , 1623 and 1624 and out through another hole 1671 in center portion 1525 as shown in FIG. 40 .
- Bolt 1627 is secured to adaptor 1500 by nut 1628 .
- Pulleys 1621 , 1622 , 1623 and 1624 are able to rotate when mounted on bolt 1627 .
- Each of pulley cables 1601 , 1602 , 1603 and 1604 are mounted on one of pulleys 1621 , 1622 , 1623 and 1624 , and are able to freely move along with the rotation of each pulley.
- Pulleys 1621 , 1622 , 1623 and 1624 are able to change the direction of the force applied on the cables 1601 , 1602 , 1603 and 1604 from a vertical plane to a horizontal plane.
- the vertical plane is defined as being a plane parallel to the length wise dimension of pole assembly 1400
- the horizontal plane is defined as being perpendicular to the vertical plane.
- Pulley mechanism 1600 when installed is located at the center of center portion 1525 of adaptor 1500 .
- cables 1601 and 1602 when pulley cables 1601 and 1602 are placed onto pulley mechanism 1600 in order to be routed to a first side 1521 , cables 1601 and 1602 can be guided onto either the two internally situated pulleys 1622 and 1623 , or onto the two externally situated pulleys 1621 and 1624 .
- cables 1603 and 1604 when pulley cables 1603 and 1604 are placed onto pulley mechanism 1600 in order to be routed to a second side 1522 , cables 1603 and 1604 can guided onto either the two internally situated pulleys 1622 and 1623 , or on the two externally situated pulleys 1621 and 1624 .
- FIG. 36 shows cables 1601 and 1602 routed over pulley mechanism 1600 towards a first side 1521 , and being guided over internal pulleys 1622 and 1623 , while cables 1603 and 1604 are routed towards the second side 1522 and guided over external pulleys 1621 and 1624 .
- rollers 1611 and 1612 are housed in compartment 1650 and secured to adaptor 1500 by bolts 1661 and 1662 , and nuts 1631 and 1632 , respectively.
- Nuts 1631 and 1632 connect to bolts 1661 and 1662 on the outside of cover 1630 through two holes in the cover.
- Cover 1630 covers compartment 1650 of adaptor 1500 .
- Cover 1650 has a snap fit connector that releasably connects to portions 1629 of bolt 1627 that are not covered by pulleys 1621 , 1622 , 1623 and 1624 .
- Two pulley cables 1601 and 1602 are guided around opposite ends of a roller 1611 , towards first side 1521 .
- Cable 1601 is guided through hole 1570 of compartment 1541 , and through the center of a spring 1565 , as shown in FIGS. 36-37 .
- Cable 1602 is guided through hole 1570 of compartment 1542 , and through the center of a spring 1565 , as shown in FIG. 37 .
- the remaining two pulley cables 1603 and 1604 are guided around opposite ends of a roller 1612 towards second side 1522 .
- Cable 1603 is guided through hole 1570 of compartment 1543 , and through the center of a spring 1565 .
- Cable 1604 is guided through hole 1570 of compartment 1544 , and through the center of a spring 1565 .
- Rollers 1611 and 1612 are able to change the direction of the force applied by the cables 1601 , 1602 , 1603 and 1604 by 90 degrees in the horizontal plane.
- the initial force transmitted by pulley cable 1601 is vertical within pole assembly 1400
- pulley mechanism 1600 changes the direction of the force transmitted by cable 1601 to a horizontal orientation.
- Roller 1611 is then able to change the direction of the force by 90 degrees in the horizontal plane so that the direction of the force transmitted by pulley cable 1601 is directed away from arm block 1531 .
- cable 1601 when pulley cable 1601 is installed in arm block 1531 , and arm block 1531 is installed in chamber 1541 , cable 1601 is able to pull arm block 1531 towards the interior of cavity 1560 , when a force is applied.
- Cable 1602 is wrapped around roller 1611 in an opposite direction from cable 1601 and can similarly pull arm block 1532 further into cavity 1560 when arm block 1532 is installed in chamber 1542 .
- Roller 1612 similarly allows pulley cables 1603 and 1604 to pull arm blocks 1533 and 1534 into cavities 1560 of chambers 1543 and 1544 respectively.
- Retaining end 1607 of each cable is placed into opening 1597 of each arm block.
- the retaining end 1607 of each cable is then retained by each cylinder cavity 1566 of each arm block, along with each spring 1565 .
- each arm block 1531 , 1532 , 1533 and 1534 along with its respective cables 1601 , 1602 , 1603 and 1604 and springs 1565 are retained in one the of compartments 1541 , 1542 , 1543 and 1544 .
- Pin pairs 1557 are then installed into circular recesses 1590 through slots 1555
- pin pairs 1558 are installed in circular recesses 1591 through slots 1556 , thereby preventing each block arm from being forced out of each cavity 1560 , by the biasing force of each spring 1565 .
- Each block arm 1531 , 1532 , 1533 and 1534 is able to move towards the interior and also move towards the exterior of each cavity 1560 of each compartment.
- Pin pairs 1557 and 1558 restrict the maximum distance each arm block may travel towards the exterior or interior of each compartment, as the pin pairs 1557 and 1558 are halted by the size of the slots 1556 and 1555 .
- each block arm 1531 , 1532 , 1533 and 1534 is biased by springs 1565 towards the exterior of each compartment 1541 , 1542 , 1543 and 1544 , respectively, so that each cable 1601 , 1602 , 1603 and 1604 becomes taut and center arm 1433 of attachment mechanism 1430 comes to rest in a first position adjacent to curved portion 1442 of slots 1441 and 1440 .
- Each of arm blocks 1531 , 1532 , 1533 and 1534 are securely retained in a fully extended position in cavity 1560 of each compartment 1541 , 1542 , 1543 and 1544 respectively, with pin pairs 1557 and 1558 being retained by slots 1555 and 1556 .
- each cable 1601 , 1602 , 1603 , and 1604 overcomes the biasing force of each spring 1565 , so that each block arm 1531 , 1532 , 1533 and 1534 retracts towards the interior of each compartment 1541 , 1542 , 1543 and 1544 , respectively.
- a user can transmit the required force with one hand to retract each block 1531 , 1532 , 1533 and 1534 into each cavity 1560 , by placing a finger underneath connector 1155 of cage 1120 at a portion 1156 , and place a finger on each grip 1431 and 1432 of mechanism 1430 .
- the user can then squeeze their fingers together to move mechanism 1430 from a first position at curved portion 1442 to a second position at curved portion 1443 , to retrack the arm blocks.
- each arm block 1531 , 1532 , 1533 and 1534 has a fastener portion 1700 that is able to releasably detach from a UAV bar 202 or 204 .
- fastener portion 1700 also has a guide extension 1701 that protrudes from the lower portion of fastener 1700 .
- the lower portion of faster 1700 being the portion that is adjacent to lower surface 1586 of each attachment block.
- Extension guide 1701 protrudes out further than fastener 1700 and is the first portion of each arm block 1531 , 1532 , 1533 and 1534 to come into contact with UAV bars 202 and 204 , when a user is connecting water sampling device 1000 to UAV 200 .
- Extension guide 1701 is angled downward so that when a user releases the locking mechanism 1430 from a second position back its first position, the biasing of springs 1565 push arm blocks 1531 , 1532 , 1533 and 1534 outward toward the UAV bars 202 and 204 , the bars travel upward along extension guide 1701 and into fasteners 1700 .
- the springs 1565 are able to overcome the bias of materials of fasteners 1700 so that fasteners 1700 releasably snap fit onto bars 202 and 204 .
- arms 204 and 202 of UAV 200 are shown disconnected from UAV 200 , for the purpose of illustrating how device 1000 connects to UAV 200 .
- Arms 202 and 204 will be connected to UAV 200 , when device 1000 is being connected to UAV 200 .
- UAV 200 hovers above a user the user will grab the fully assembled device 1000 , and move mechanism 1430 as described above from a first position down to a second position and hold the mechanism at the second position.
- the user With each of the arm blocks 1531 , 1532 , 1533 and 1534 retracted, the user will lift device 1000 closer to the bottom of UAV 200 , so as to ensure each fastener is relatively adjacent to arm bars 202 and 204 .
- each spring 1565 overcomes the bias of materials of each fastener 1700 , so that each fastener 1700 temporarily expands to receive and attach to one of bars 202 or 204 .
- the force of the springs 1565 along with the shape of the fasteners 1700 keep the arm blocks 1531 , 1532 , 1533 and 1534 securely attached to the arm bars 202 and 204 of UAV 200 , until a user grabs device 1000 , and applies a force to mechanism 1430 to move the mechanism from the first position to a second position.
- each fastener 1700 When a user moves the mechanism from the first position to a second position, the user must apply enough force to overcome the biasing force of each spring 1565 , and the bias of materials of each fastener 1700 , so that the each fastener temporarily expands to release each of bars 202 and 204 .
- a user is able to quickly attach or release device 1000 from underneath a UAV 200 , while the UAV 200 is hovering above the user.
- water sampling device 1000 is designed to plunge below the surface of a liquid reservoir because it is important not to gather the surface water for most water sampling testing.
- Other water sampling devices have not been able to offset buoyancy or negatively affect pitch, roll and yaw of the UAV poorly. These other devices simply float on the water which is undesirable.
- Water sampling device 1000 besides for offsetting buoyancy, also balances weight on UAV 200 properly. As discussed above, water sampling is a relatively simple mission for UAVs. However, after some tests, it shows that an empty water sampling vessel creates force (buoyancy) that is affecting the UAV dynamics and might risk the operation.
- the mass of water sampling device 1000 should be slightly higher than the buoyancy force.
- Roll is one of the forces in aerodynamics.
- Pitch, Roll and Yaw are also known as the “Principal Axes” or “Axes of Rotation”, that include: Lateral Axis (Pitch), Longitudinal Axis (Roll) and Vertical Axis (Yaw). It is important that the UAV, with water sampling device 1000 , not compromise the flying safety (pitch, roll, yaw) of the drone.
- the liquid can subject the device 1000 , including bottle 1110 , cage 1120 and pole assembly 1400 , to forces that destabilize and negatively affect the flying dynamics of UAV 200 .
- UAV 200 can minimally tilt in the same direction of the destabilizing force, so that pole assembly 1400 bends towards the direction of the destabilizing force, and thereby creates a counteracting force in a pole assembly 1400 , in a direction that opposes the destabilizing force created by the liquid.
- FIG. 42 shows an exaggerated tilting of UAV 200 , and an exaggerated bend in pole assembly 1400 for purposes of illustration. This movement allows bottle 1110 to settle again in a stable center of gravity and restores control to UAV 200 .
- dampers 1491 , 1492 , 1493 and 1494 are able to compress and expand as needed as shown in FIG. 42 , so that some of the forces are absorbed, providing added flight stability to UAV 200 , and thereby ensuring the safe and proper collection of a water sample by device 1000 .
- both water sampling devices are compatible with a Matrice UAV.
- Water sampling device 1000 and/or 1000 can be used on different UAVs 200 . As long as these different UAVs can carry the payload weight of water sampling device 100 or 1000 and has the landing bars, namely, first bar 202 and second bar 204 , on the bottom, water sampling device 100 and/or 1000 can be customized to other UAVs. However, flight testing may still need to be conducted with a different UAV connected to water sampling device 100 or 1000 beforehand for safety reasons.
- device 100 and 1000 can be sanitized prior to use, so that water samples collected by the devices are not contaminated.
- Adaptor 500 and 1500 can be used to be interchangeably for some other industrial uses besides for water sampling.
- adaptor 500 and/or 1500 when connected to UAV 200 can be used to sample water having mosquito and/or mosquito larva for testing.
- adaptor 500 and/or 1500 when connected to UAV 200 can be used to sample water in highly contaminated areas so that the user does not have to be exposed to the highly contaminated areas.
- Water sampling device 100 or 1000 can be bright pink or safety orange or another bright color. The color should not be common in nature so that you can see water sampling device 100 or 1000 from a distance.
- the various components of the devices can be bright colors such as bright pink or safety orange, including the bottle, bottle cage, and device adaptors.
- Water sampling device 100 and 1000 has components that, for example, can be 3D printed.
- adaptor body 502 can be 3D printed.
- Water sampling device 100 and/or 1000 saves costs over this type of water sampling as well.
- UAV 200 connected to water sampling device 100 or 1000 can also automatically document a location where a water sample is taken. Further, a camera can be connected to water sampling device 100 and 1000 .
- Devices 100 and 1000 can be easily assembled and dismantled into the main component pieces such the device adaptors, individual pole assembly pieces, bottles and cages, so as to enable easy storage, transport and packaging of the device.
- Devices 100 and 1000 can also be used to collect samples of liquids other than water.
- the bottles of devices 100 and 1000 can be directly connected to the pole assemblies so that a bottle cage is not needed to collect the liquid samples.
- devices 100 and 1000 can be connected to different attachments other than a bottle cage or bottle, for use in other tasks beyond liquid collection and sampling, such as a hook or other container can be attached to the pole assemblies.
- the device 100 and 1000 can work with as few as two fasteners, with one fastener on each side of the device, each connecting to one of UAV bars 202 and 204 .
Abstract
Description
- This application claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Application No. 62/913,786 filed Oct. 11, 2019 the contents of which are incorporated by reference herein in their entirety.
- The present disclosure relates to a water sampling device. More particularly, the present disclosure relates to such a water sampling device that connects to an Unmanned Aerial Vehicle (“UAV”).
- Generally, water sampling is a relatively simple mission for UAVs. However, an empty water sampling vessel creates a force (buoyancy) that affects the UAV dynamics and might risk the operation. Other water sampling devices have not been able to offset buoyancy or instead poorly affect pitch, roll and yaw.
- Accordingly, there is a need to overcome the disadvantages described above for other water sampling devices.
- A water sampling device is provided that offsets for buoyancy and balances weight on a UAV. The water sampling device is able to be easily assembled and attached and detached from a UAV, even when the UAV is hovering over a user. The water sampling device can be attached and detached to the UAV even with one hand.
- The above and other objects, features, and advantages of the present disclosure will be apparent and understood by those skilled in the art from the following detailed description, drawings, and accompanying claims. As shown throughout the drawings, like reference numerals designate like or corresponding parts.
-
FIG. 1 is a schematic illustration of a UAV connected to an embodiment of a water sampling device according to the present disclosure in a first position. -
FIG. 2 is a schematic illustration of the UAV connected to the water sampling device ofFIG. 1 in a second position. -
FIG. 3 is a bottom perspective view of the water sampling device. -
FIG. 4 is an exploded front view of the water sampling device. -
FIG. 5 is a partial enlarged view ofFIG. 4 showing a bottle, a bottle cage and a partial view of a pole assembly. -
FIG. 6 is a partial enlarged view ofFIG. 4 showing a partial view of the pole assembly. -
FIG. 7 is a partial enlarged view ofFIG. 4 showing an adaptor and a partial view of the pole assembly. -
FIG. 8 is a partial side view of the pole assembly. -
FIG. 9 is a partial top view of the pole assembly. -
FIG. 10 is a front view of a first pole member and a first member connector of the pole assembly showing the first pole member in cross-section. -
FIG. 11 is a front view of a second pole member and a second member connector of the pole assembly showing the second pole member in cross-section. -
FIG. 12 is an exploded top perspective view of the adaptor. -
FIG. 13 is a top view of the adaptor in a non-use position. -
FIG. 14 is a top view of the adaptor in a use position connected to a UAV that is partially shown. -
FIG. 15 is a front view of an example of the water sampling device of the present disclosure. -
FIG. 16 is an enlarged partial view of the bottle cage of the water sampling device ofFIG. 15 . -
FIG. 17 is an enlarged partial view of the drone adaptor of the water sampling device ofFIG. 15 . -
FIG. 18 is an enlarged partial view of a second member connector of the water sampling device ofFIG. 15 . -
FIG. 19 is an enlarged partial view of the bottle cage the water sampling device ofFIG. 15 . -
FIG. 20 is a schematic illustration of a UAV connected to another embodiment of the water sampling device according to the present disclosure in a first position. -
FIG. 21 is a schematic illustration of the UAV connected to the water sampling device ofFIG. 20 in a second position. -
FIG. 22 is a bottom perspective view of the water sampling device ofFIG. 20 . -
FIG. 23 is front perspective view of a water sampling bottle loaded into a bottle cage. -
FIG. 24 is a front perspective view of the bottle and opened bottle cage ofFIG. 23 , showing partial enlarged views of the bottle cage. -
FIG. 25 is a bottom perspective view of the opened bottle cage ofFIG. 23 . -
FIG. 26 is top perspective view of the water sampling device ofFIG. 20 , showing partial enlarged views of the bottle cage and pole assembly. -
FIG. 27 is a cross section view of a portion of the pole assembly shown in the partial enlarged view ofFIG. 26 . -
FIG. 28 is an exploded bottom perspective view of the water sampling device ofFIG. 22 , showing partial enlarged views of the bottle cage and pole assembly. -
FIG. 29 is perspective view of an internal attachment mechanism of the pole assembly. -
FIG. 30 is a side view of a first pole of the pole assembly. -
FIG. 31 is a top view of the pole as shown inFIG. 30 . -
FIG. 32 is a side view of a second pole of the pole assembly. -
FIG. 33 is a top view of the pole as shown inFIG. 32 . -
FIG. 34 is an exploded front view of the water sampling device ofFIG. 22 , showing partial enlarged cross-sectional views of the pole assembly and UAV connection adaptor. -
FIG. 35 is a top view of the UAV connection adaptor of the water sampling device ofFIG. 22 . -
FIG. 36 is an exploded perspective view of the UAV connection adaptor, and a partial view of the pole assembly of the water sampling device ofFIG. 22 . -
FIG. 37 is a top cross-sectional view of the UAV connection adaptor shown inFIG. 35 . -
FIG. 38 is a partial side cross-section view of the UAV connection adaptor and pole assembly of the water sampling device ofFIG. 22 . -
FIG. 39 is a perspective view of a pulley mechanism housed in the UAV connection adaptor. -
FIG. 40 is a partial top view of an opened UAV connection adaptor as shown inFIG. 35 . -
FIG. 41 is a bottom perspective view of the water sampling device ofFIG. 22 , showing the UAV connection adaptor connected to UAV bars. -
FIG. 42 is a side view of the water sampling device ofFIG. 20 showing the pole assembly reversibly bending when the water sampling device is subjected to forces and shows a partial enlarged view of the water sampling device. - A
water sampling device 100 according to an embodiment of the disclosure is shown inFIG. 1 .Water sampling device 100 is a device that connects to UAVs, for example, aUAV 200, and enables sampling and surveying of water (or other liquids) reservoirs, for example,reservoir 300. A main advantage ofwater sampling device 100 is to allow remote material sampling, from any location inreservoir 300.Water sampling device 100 is designed and optimized to fit most industrial grade drones without risking the vehicle dynamics.Water sampling device 100 connects toUAV 200 so thatwater sampling device 100 moves withUAV 200.UAV 200 can movewater sampling device 100 to move abottle 110 that will hold the collected sample of liquid. - Referring to
FIG. 2 , water sampling is a relatively simple mission for UAVs, for example,UAV 200. However, after some tests, it shows that an empty water sampling vessel, for example,bottle 110, creates force FB (buoyancy) that is affecting UAV dynamics and might risk the operation. For reference, using a 330 mL sampling bottle asbottle 110 and a 1 meter pole as apole 405 of apole assembly 400 ofwater sampling device 100, will force theUAV 200 to Roll compensate for (max) 2.2-3.3 Nm. To solve this problem, a mass ofwater sampling device 100 should be slightly higher than force FB that is the buoyancy force. In order to prevent unwanted forces acting onUAV 200, force Fg must be greater than a force applied by water sampling device FB as set forth in the following: -
FB<Fg - FB—Force/buoyancy created due to submerged volume of
water sampling device 100
Fg— Force that is created due to gravity -
FB=ρfVg - ρf—Fluid density (for example, fluid density of water in reservoir 300)
V—Submerged body volume ofsampling bottle 110+bottle cage 120
g—Gravity -
Fg=mg - m—Mass of the
bottle cage 120+Mass ofbottle 110
g—Gravity - The mass of
UAV 200 is considered to be zero due to hovering. - Referring to
FIGS. 3 and 4 ,water sampling device 100 hasbottle 110, abottle cage 120,pole assembly 400 and adevice adaptor 500.Water sampling device 100 has, for example, a weight of about 1.3 Kg.Water sampling device 100, for example, is made of plastic that can be recyclable and reusable. - Referring to
FIGS. 4 and 5 ,bottle 110 is a vessel with an opening on asurface facing adaptor 500 that can hold liquids.Bottle 110 is plastic so as to be disposable. Prior techniques for water sampling required a person to submerge their gloved arm in liquid that was being sampled which led to contamination problems. Other water sampling required water sampling bottles, for example, stainless steel bottles, to be sterilized. Stainless steel is undesirably heavy to be carried by UAVs. Further sterilization of stainless-steel bottles takes time as compared to disposable bottles. Alternatively,bottle 110 can be a material that is reusable and can be sterilized between uses. -
Bottle cage 120 is made from plastic, for example, from Nylon having a density of 1.15 kg/m3. Bottle 110 can be removably secured inbottle cage 120.Bottle 110 is inserted into abottom 121 ofbottle cage 120. For example,bottom 121 ofbottle cage 120 has a slightly protruding flexing tab 123 (FIG. 19 ) that secures the bottle and when pulling back the tab, it allows thebottle 110 to be pulled or pushed frombottle cage 120. Alternatively, a sliding lever (not shown) connected to the bottom of the bottle cage can be pushed towards or pulled away to secure and release the bottle. This would allow the bottle to drop out of the bottle cage without any pulling or pushing needed. -
Bottle cage 120 has acage connector 122 that is connectable topole connector 418 ofpole assembly 400.Cage connector 122 hasprotrusions holes pole connector 418 by snap fit. As shown inFIG. 19 ,cage connector 122 hasslits 1900 formingflaps 1902 that deform inward and overcome a bias of materials offlaps 1902 when inserted intopole connector 418 due to a size of an opening intopole connector 418. Whenprotrusions holes cage connector 122 intopole connector 418,cage connector 122 can then be rotated so thatprotrusions holes flaps 1902 move outward due to the bias of the materials offlaps 1902 to insertprotrusions holes cage connector 122 andpole connector 418. To removecage connector 122 frompole connector 418, a user's fingers can be inserted into each ofholes flaps 1902 havingprotrusions protrusions holes cage connector 122 andpole connector 418 can move away from one another.Pole assembly 400 has afirst pole member 408 and asecond pole member 421.Pole connector 418 is a tube that is open inside to receive a portion ofsecond pole member 421.Pole connector 418 hasholes pole connector 418 that hasholes Second pole member 421 hasholes Holes pole connector 418 andholes second pole member 421 align allowing abolt 432 to pass through each ofholes holes nut 434 to connectpole connector 418 tosecond pole member 421. - Referring to
FIGS. 4, 6 and 10 ,first pole member 408 hasholes end 437.Pole assembly 400 has afirst member connector 440 that hasholes Hole 436 throughfirst pole member 408 andhole 442 throughfirst member connector 440 align to allow ascrew 446 to pass through each.Hole 438 throughfirst pole member 408 andhole 444 throughfirst member connector 440 align to allow ascrew 448 to pass through each to connectfirst pole member 408 tofirst member connector 440. - Referring to
FIGS. 4, 6 and 11 ,second pole member 421 hasholes end 451.Pole assembly 400 has asecond member connector 454 that hasholes Hole 450 throughsecond pole member 421 andhole 456 throughsecond member connector 454 align to allow ascrew 460 to pass through each, andhole 452 throughsecond pole member 421 andhole 458 throughsecond member connector 454 align to allow ascrew 462 to pass through each to connectsecond pole member 421 tosecond member connector 454. -
Second member connector 454 has anextension 464 having aprotrusion 468 at an end opposite a location ofholes First member connector 440 has a recess that has a shape complementary toprotrusion 468 and a portion ofextension 464.Protrusion 468 and the portion ofextension 464 are inserted in the recess offirst member connector 440 to connectfirst member connector 440, andsecond member connector 454 by snap fit to connectfirst pole member 408 andsecond pole member 421. As shown inFIG. 18 ,extension 464 has aslot 469 forming agap 471 between afirst arm 473 and asecond arm 475. Afirst portion 477 ofprotrusion 468 extends fromfirst arm 473. Asecond portion 479 ofprotrusion 468 extends fromsecond arm 475. Whenextension 464 is inserted intofirst member connector 440,first arm 473 andsecond arm 475 deform toward one another and overcome a bias of materials offirst arm 473 andsecond arm 475 due to a size of theopening 441 infirst member connector 440. Whenextension 464 enters the recess offirst member connector 440,first arm 473 andsecond arm 475 move outward away from one another due to the bias of the materials offirst arm 473 andsecond arm 475 to maintainprotrusion 468 in the recess offirst member connector 440 and maintainingsecond member connector 454 connected tofirst member connector 440. A shape ofprotrusion 468 allowsprotrusion 468 to rotate in the recess offirst member connector 440 so thatsecond member connector 454 can rotate relative tofirst member connector 440. To disconnectfirst member connector 440 andsecond member connector 454, a force is applied tofirst member connector 440 and/orsecond member connector 454 to pullfirst member connector 440 andsecond member connector 454 apart thereby movingprotrusion 468 against the recess offirst member connector 440 and movingfirst arm 473 andsecond arm 475 toward one another so thatprotrusion 468 can be moved out of the recess offirst member connector 440 to disconnectsecond member connector 454 fromfirst member connector 440.Pole assembly 400 having two parts, namely,first pole member 408 andsecond pole member 421, allow for easy handling and shipping. - Referring to
FIGS. 4 and 7 ,device adaptor 500 is connected topole assembly 400 bybolts holes FIG. 12 ), respectively, throughadaptor 500, and then through one ofdampers pole adaptor 402 ofpole assembly 400, and are secured in place by one ofnuts bolts nuts device adaptor 500 topole assembly 400.Water sampling device 100 hasdampers pole adaptor 402 anddevice adaptor 500 when assembled.Dampers pole adaptor 402 anddevice adaptor 500 when assembled.Dampers pole adaptor 402 anddevice adaptor 500 whenUAV 200 is in flight and whenbottle cage 120 is submerged and can thereby absorb shock by mitigating the forces acting onUAV 200 during flight.Pole adaptor 402 is connected to afirst pole member 408 by apin 410.Pin 410 has a grippingmember 412 on a first side and a spring-loaded pair ofretractable members 414 on opposite sides of a second side.Retractable members 414 retract into apin body 416 when a force is applied to overcome a force applied by one or more springs urgingretractable members 414 outward to extend out ofpin body 416 when a force less than the force applied by one or more springs is applied. As shown inFIG. 10 , holes 411, 409 through opposite sides offirst pole member 408 and holes through opposite sides ofpole adaptor 402 align allowingretractable members 414 ofpin 410 to retract when passing therethrough and extend thereafter to connectdevice adaptor 500 topole assembly 400. - Referring to
FIGS. 8 and 9 , auniversal pole member 800 can be used as bothfirst pole member 408 andsecond pole member 421 so thatfirst pole member 408 is the same assecond pole member 421 turned upside-down.Universal pole member 800 can be about 19.685 inches long, about 1 inch wide, and have a thickness of about 0.125 inches.Holes 802 can be about 1.125 inches from afirst end 803.Holes 802 can be 0.25 inches in diameter.Holes 804 can be about 0.500 inches from asecond end 805.Holes 804 can be 0.375 inches in diameter. - Referring to
FIGS. 12 and 13 ,device adaptor 500 has anadaptor body 502, a firstmovable arm 504, a secondmovable arm 506, afirst spring 508, asecond spring 510, afirst rod 512 and asecond rod 514.Adaptor body 502 has a firstfixed arm 516 and a secondfixed arm 518.Adaptor 500 hasholes upper surface 515 through alower surface 517 in acentral portion 501 ofadaptor body 502.Adaptor 500 hasapertures adaptor body 502 forming a cross shape. -
Apertures adaptor 500 to maximize strength, yet be easy to manufacture while using the least amount of material. Using the least amount of material foradaptor 500 keeps payload weight down, which is desirable with UAVs, as well as helps control manufacturing costs. Using the least amount of material uses the least amount of plastic as possible. - First fixed
arm 516 has afastener 532. Secondfixed arm 518 has afastener 534. Firstmovable arm 504 has afastener 536. Secondmovable arm 506 has afastener 538. Each offasteners Fastener 532 of firstfixed arm 516 extends from asupport 540 that extends fromcentral portion 501.Fastener 534 of secondfixed arm 518 extends from asupport 542 that extends fromcentral portion 501.Adaptor body 502 has afirst cavity 544 with anopening 546 opposite firstfixed arm 516.Adaptor body 502 has asecond cavity 548 with anopening 550 opposite secondfixed arm 518.Adaptor body 502 hasfirst track openings 552 through each ofupper surface 515 andlower surface 517 ofsupport 540.Adaptor body 502 has asecond track openings 554 through each ofupper surface 515 andlower surface 517 ofsupport 542.Fastener 536 of firstmovable arm 504 extends from asupport 556.Support 556 has ahole 558 therethrough and aprotrusion 560 on a surface oppositefastener 536.Fastener 538 of secondmovable arm 506 extends from asupport 562.Support 562 has ahole 564 therethrough and aprotrusion 566 on a surface oppositefastener 538. - As shown in
FIG. 13 ,first spring 508 is positioned infirst cavity 544.Protrusion 560 of firstmovable arm 504 is then fit infirst spring 508 and firstmovable arm 504 is moved in adirection 568 to overcome an outward bias offirst spring 508 that is in adirection 570. Oncehole 558 insupport 556 of firstmovable arm 504 is moved into alignment withfirst track openings 552,first rod 512 is inserted throughfirst track opening 552 throughupper surface 515, throughhole 558 and throughfirst track opening 552 throughlower surface 517 to maintain a portion ofsupport 556 infirst cavity 544 to connect firstmovable arm 504 inadaptor body 502. -
Second spring 510 is positioned insecond cavity 548.Protrusion 566 of secondmovable arm 506 is then fit insecond spring 510 and secondmovable arm 506 is moved indirection 568 to overcome an outward bias ofsecond spring 510 that is in adirection 570. Oncehole 564 throughsupport 562 of secondmovable arm 506 is moved into alignment withsecond track openings 554,second rod 514 is inserted through second track opening 554 throughupper surface 515, throughhole 564 and through second track opening 554 throughlower surface 517 to maintain a portion ofsupport 562 insecond cavity 544 to connect secondmovable arm 506 inadaptor body 502. - During operation, a force that overcomes the bias of
first spring 508 is applied tofastener 536 of firstmovable arm 504 to move firstmovable arm 504 indirection 568. Releasing of the force that overcomes the bias offirst spring 508 moves firstmovable arm 504 back indirection 570. A force that overcomes the bias ofsecond spring 510 is applied tofastener 538 of secondmovable arm 506 to move secondmovable arm 506 indirection 568. Releasing of the force that overcomes the bias ofsecond spring 510 applied tofastener 538 of secondmovable arm 506 moves secondmovable arm 506 back indirection 570. - Referring to
FIG. 14 ,UAV 200 has afirst bar 202 and asecond bar 204. During operation,UAV 200 hovers whilewater sampling device 100 is connected.Second bar 204 is received byfastener 532 of firstfixed arm 516 andfastener 534 of secondfixed arm 518. Then,fastener 536 of firstmovable arm 504 andfastener 538 of secondmovable arm 506 are pressed againstfirst bar 202 to apply a force that overcomes the bias offirst spring 508 applied tofastener 536 of firstmovable arm 504 to move firstmovable arm 504 indirection 568 and apply a force that overcomes the bias ofsecond spring 510 applied tofastener 538 of secondmovable arm 506 to move secondmovable arm 506 indirection 568 so thatfastener 536 of firstmovable arm 504 andfastener 538 of secondmovable arm 506 receivefirst bar 202. Afterfastener 536 of firstmovable arm 504 andfastener 538 of secondmovable arm 506 receivefirst bar 202, the bias offirst spring 508 urgesfastener 536 of firstmovable arm 504 againstfirst bar 202 and the bias ofsecond spring 510 urgesfastener 538 of secondmovable arm 506 againstfirst bar 202. Also, the bias offirst spring 508 and the bias ofsecond spring 510 also urges first fixedarm 516 and secondfixed arm 518 againstsecond bar 204, to maintainadaptor 500 connected tofirst bar 202 andsecond bar 204.Device adaptor 500 has afirst side 901, asecond side 902, athird side 903 and afourth side 904 as shown onFIG. 14 . - Alternatively,
fastener 536 of firstmovable arm 504 andfastener 538 of secondmovable arm 506 receivefirst bar 202. Then, a force is applied toadaptor 500 that overcomes the bias offirst spring 508 applied tofastener 536 of firstmovable arm 504 to move firstmovable arm 504 indirection 568 and that overcomes the bias ofsecond spring 510 applied tofastener 538 of secondmovable arm 506 to move secondmovable arm 506 indirection 568 so thatfastener 532 of firstfixed arm 516 andfastener 534 of secondfixed arm 518 can receivesecond bar 204. - Accordingly, no screws, bolts or the like are needed to connect
water sampling device 100 toUAV 200. A user can grasppole assembly 400 with one hand to connectadaptor 500 tofirst bar 202 andsecond bar 204 as described herein. -
UAV 200 hovers whilewater sampling device 100 is disconnected.Adaptor 500 can be removed fromfirst bar 202 andsecond bar 204, by the user applying a force indirection 570 allowingfastener 532 of firstfixed arm 516 andfastener 534 of secondfixed arm 518 to separate fromsecond bar 204, then,fastener 536 of firstmovable arm 504 andfastener 538 of secondmovable arm 506 can disconnect fromfirst bar 202 separatingadaptor 500 from UAV. A user can grasppole assembly 400 with one hand to disconnectadaptor 500 tofirst bar 202 andsecond bar 204 as described herein. Accordingly,adaptor 500 is a quick release adaptor that can be connected and disconnected to a UAV by one hand. - An additional failsafe can be added to
adaptor 500 in case the spring loaded firstmovable arm 504 and secondmovable arm 506 fail in mid-air, although they should not fail as each individual spring offirst spring 508 andsecond spring 510 would have to fail simultaneously and they are independent of each other. This provides additional safety redundancy towater sampling device 100. An additional failsafe can be added to the bottom ofbottle cage 120. - If
UAV 200 does not have afirst bar 202 and asecond bar 204, then UAV can be subsequently modified to includefirst bar 202 andsecond bar 204. -
Water sampling device 100 is designed to plunge below the surface because it is important not to gather the surface water for most water sampling testing. Other water sampling devices have not been able to offset buoyancy or effect pitch, roll and yaw poorly. These other devices simply float on the water which is undesirable.Water sampling device 100, besides for offsetting buoyancy, also balances weight onUAV 200 properly. As discussed above, water sampling is a relatively simple mission for UAVs. However, after some tests, it shows that an empty water sampling vessel creates force (buoyancy) that is affecting the UAV dynamics and might risk the operation. For reference, using a 330 mL sampling bottle and a 1 meter pole, will force the UAV to Roll compensate for 3.3 Nm. To solve this problem, the mass ofwater sampling device 100 should be slightly higher than the buoyancy force. Roll is one of the forces in aerodynamics. Pitch, Roll and Yaw, are also known as the “Principal Axes” or “Axes of Rotation”, that include: Lateral Axis (Pitch), Longitudinal Axis (Roll) and Vertical Axis (Yaw). It is important that the UAV, withwater sampling device 100, not compromise the flying safety (pitch, roll, yaw) of the drone. -
FIGS. 15-17 are examples ofwater sampling device 100 of the present disclosure as described herein.FIGS. 18-19 are described above. - A
water sampling device 1000 according to a preferred embodiment of the disclosure is shown inFIG. 20 .Water sampling device 1000 is a device that connects to UAVs, for example, aUAV 200, and enables sampling and surveying of water (or other liquids) reservoirs, for example,reservoir 300. A main advantage ofwater sampling device 1000 is to allow remote material sampling, from any location inreservoir 300.Water sampling device 1000 is designed and optimized to fit most industrial grade drones (UAVs) without risking the vehicle dynamics.Water sampling device 1000 connects toUAV 200 so thatwater sampling device 1000 moves withUAV 200.UAV 200 can movewater sampling device 1000 to move abottle 1110 that will hold the collected sample of liquid.Bottle 1110 is contained within abottle cage 1120. - Referring to
FIG. 21 , water sampling is a relatively simple mission for UAVs, for example,UAV 200. However, after some tests, it shows that an empty water sampling vessel, for example,bottle 1110, creates force FB (buoyancy) that is affecting UAV dynamics and might risk the operation. For reference, using a 500 mL sampling bottle asbottle 110 and a 1meter pole assembly 1400 ofwater sampling device 1000, will force theUAV 200 to Roll compensate for (max) 3.5-5 Nm To solve this problem, a mass ofwater sampling device 1000 should be slightly higher than force FB that is the buoyancy force. In order to prevent unwanted forces acting onUAV 200, force Fg must be greater than a force applied by water sampling device FB as set forth in the following: -
FB<Fg - FB—Force/buoyancy created due to submerged volume of
water sampling device 1000
Fg— Force that is created due to gravity -
FB=ρfVg - ρf—Fluid density (for example, fluid density of water in reservoir 300)
V—Submerged body volume ofsampling bottle 1110+bottle cage 1120
g—Gravity -
Fg=mg - m—Mass of the
bottle cage 1120+Mass ofbottle 1110
g—Gravity - The mass of
UAV 200 is considered to be zero due to hovering. - Referring to
FIG. 22 ,water sampling device 1000 hasbottle 1110, abottle cage 1120,pole assembly 1400 and adevice adaptor 1500.Water sampling device 1000 has, for example, a weight of about 1.215 KgWater sampling device 1000, for example, is made of plastic that can be recyclable and reusable and from carbon fiber.Adaptor 1500,bottle 1110 andbottle cage 1120 can be made from plastic such as Nylon. Thepoles -
Pole assembly 1400 includes afirst pole 1410 that connects thebottle cage 1120 and asecond pole 1460.Second pole 1460 connects todevice adaptor 1500.Device adaptor 1500 is able to connect toUAV 200. In some embodiments,poles - Referring to
FIGS. 23-25 ,bottle 1110 is a vessel with anopening 1111 that can hold liquids, that when inserted intobottle cage 1120, opening 1111 facesadaptor 1500, and thebottom 1115 ofbottle 1110 rests on aninterior base 1118 ofbottle cage 1120.Bottle 1110 is plastic so as to be disposable. In someembodiments bottle 1110 can be glass to collect certain types of liquid samples.Bottle 1110 can be adapted to be made of different materials and can be made into different sizes based on various needs. Alternatively,bottle 1110 can be a material that is reusable and can be sterilized between uses. -
Bottle cage 1120 is made from plastic, for example, from having a density of 1.15 kg/m3, or in the case of SLS 3D printed Nylon a density of 0.95 kg/m3.Bottle 1110 can be removably secured inbottle cage 1120, by openingbottle cage door 1125, insertingbottle 1110 inbottle cage 1120 and closingcage door 1125.Bottle cage door 1125 andbottle cage 1120 have acutout portion 1130 that a user hands can use to grasp and open and closebottle cage door 1125.Bottle cage 1120 can also have acutout 1145 so as to reduce the weight ofbottle cage 1120.Bottle cage 1120 also has aweighted base 1135, made of a denser material than the rest ofbottle cage 1120, so that the center of gravity of thebottle cage 1120 becomes shifted towards the bottom or base ofbottle cage 1120.Weighted base 1135 is advantageous because the additional weight allowsdevice 1000 to more easily penetrate the surface of aliquid reservoir 300, by offsetting the buoyancy forces of theempty bottle 1110.Weighted base 1135 can also serve as a protection forcage 1120 andbottle 1110, againstdevice 1000 hitting hard objects such as rocks or debris in the vicinity of the area targeted for liquid sample collection. In some embodiments, weighted based 1135 can have one ormore drain holes 1136 so that whenbottle cage 1120 becomes submerged in a liquid, the liquid can drain out through theholes 1136 when thebottle cage 1120 is lifted out of the liquid byUAV 200. In some embodiments,base 1135 has sixholes 1136.Base 1118 can havemultiple openings 1117 providing access todrains holes 1136 inbase 1135.Openings 1117 also reduce the weight ofbottle cage 1120. In some embodiments,weighted base 1135 is connected to thebase 1118 ofcage 1120 bybolts 1137. -
Bottle cage 1120 has acage connector 1155 that is connectable topole 1410 ofpole assembly 1400.Cage connector 1155 hasholes pole 1410.Cage connector 1155 can be hexagonally shaped and sized so as to accept the insertion and detachable connection ofpole 1410, that can also be hexagonally shaped.Bottle cage 1120 has a retainingportion 1140 that curves inward toward the center ofbottle cage 1120, and surrounds and retainsbottle lip 1112 andcurved portion 1114 ofbottle 1110. Retainingportion 1140 ensures thatbottle 1110 does not move about freely withincage 1120, while also ensuring that opening 1111 ofbottle 1110 is not obstructed, so that whenbottle 1110 is submerged, liquids can enteropening 1111. -
Bottle cage door 1125 hasidentical locking mechanisms cage door 1125 from a first starting or non-biased position whencage 1125 is being closed. Whencage door 1125 is fully closed, as shown inFIG. 23 , lockingmechanisms identical recesses bottle cage 1120, thereby preventingbottle cage door 1125 from opening during operation and movement ofUAV 200.Bottle cage door 1125 is capable of being opened by a user applying sufficient force to pullcage door 1125 open, thereby causinglocking mechanisms cage door 1125, and releasing the locking mechanisms fromrecesses mechanisms cage door 1125. In some embodiments, lockingmechanisms - Referring to
FIGS. 26-27 ,pole 1410 has afirst end 1411, that is insertable intocage connector 1155.Pole 1410 containsholes first end 1411, through which locking pins 1426 and 1427 oflocking mechanism 1425 protrude through. In some embodiments,locking mechanism 1425 is a single flexible unitary mechanism so that whenfirst end 1411 is first inserted intocage connector 1155, lockingpins pole 1410. In some embodiments,locking mechanism 1425 can be spring steel button pins that are made of stainless steel and use a spring force to produce the biasing force described above. Oncepole 1410 is fully inserted intocage connector 1155, lockingpins openings cage connector 1155, thereby lockingpole 1410 to bottlecage 1120. Torelease pole 1410 frombottle cage 1120, lockingpins pole 1410 can be pulled out ofcage connector 1155. - Referring to
FIG. 28 ,pole 1410 contains within it, anattachment mechanism 1430 that is capable of parallel movement with respect to the length ofpole assembly 1400.Attachment mechanism 1430 has acenter pole piece 1435, that is hollow and can be hexagonal.Attachment mechanism 1430 is also shown inFIG. 29 .Attachment mechanism 1430 is able to move towards and away frombottle cage 1120, while inpole 1410, with its movement being limited by the length ofslots FIG. 30 .Attachment mechanism 1430 has acenter rod 1433 on which a first andsecond grip mechanism 1430 is placed inpole 1410,center rod 1433 andgrips slots center rod 1433, as shown inFIG. 38 . In some embodiments, four pulley cables are attached tocenter rod 1433. - Referring to
FIG. 28 ,pole 1410 has asecond locking mechanism 1450 that is identical to thefirst locking mechanism 1425.Locking mechanism 1450 has lockingpins holes pole 1410 and is located near thesecond end 1412 ofpole 1410. Lockingpins pole 1410, so thatpole 1410 can be inserted intopole 1460.Pole 1460 has afirst end 1461 into which thesecond end 1412 ofpole 1410 is inserted. Once thesecond end 1412 is fully inserted intofirst end 1461, the locking pins 1451 and 1452 are able to return back to their original unbiased positions and protrude throughopenings pole 1460, thereby lockingpoles release pole 1410 frompole 1460, lockingpins pole 1410 can be pulled out ofpole 1460. -
Pole 1460 has athird locking mechanism 1470 that is identical to the first andsecond locking mechanisms Locking mechanism 1470 has lockingpins holes pole 1460, and near thesecond end 1462 ofpole 1460. Lockingpins pole 1460, so thatpole 1460 can be inserted intoattachment 1480.Attachment 1480 hasholes first end 1481 and asecond end 1482. When thesecond end 1462 ofpole 1460 is fully inserted into thefirst end 1481, the locking pins 1471 and 1472 are able to return back to their original unbiased positions and protrude throughopenings attachment 1480, thereby lockingpole 1460 andattachment 1480 together. Torelease pole 1460 fromattachment 1480, lockingpins pole 1460 can be pulled out ofattachment 1480. - Referring to
FIG. 29 ,attachment mechanism 1430 is shown.Attachment mechanism 1430 is able to slide towards and away fromcage 1120, while contained inpole 1410.Center rod 1433 runs throughpole piece 1435 and can connect to one or more pulley cables. In a preferred embodiment,center rod 1433 is can connect with four pulley cables in the body cavity ofpole piece 1435. - Referring to
FIG. 30 , an embodiment of thefirst pole 1410 is shown.Holes first end 1411, and both have a radius of 7 (mm).Slots rounded end 1442 and a secondrounded end 1443. Secondrounded end 1443 has a radius of 3.25 (mm) and is 70 (mm) away fromfirst end 1411. Firstrounded end 1442 has a radius of 3.25 (mm) and is 95 (mm) away fromfirst end 1411.Slots Holes second end 1412, and both have a radius of 7 (mm). - Referring to
FIGS. 30-31 ,first pole 1410 is hollow and has an outer diameter or width of 21.59 (mm) and an inner diameter or width of 19.05 (mm), and a total length of 500 (mm). - Referring to
FIG. 32 , an embodiment of thesecond pole 1460 is shown.Holes first end 1461, and both holes have a radius of 7 (mm).Holes second end 1462, and both have a radius of 7 (mm). - Referring to
FIGS. 32-33 ,second pole 1460 is hollow and has an outer diameter of 24.76 (mm) and an inner diameter of 22.23 (mm), and a total length of 500 (mm). - Referring to
FIGS. 34, 35, 36 and 40 ,device adaptor 1500 is connected toattachment 1480 bybolts holes adaptor 1500, and throughindividual dampers holes attachment 1480, and are connected to and secured by nuts 1484, 1485, 1486 and 1487, respectively. - Referring to
FIGS. 35, 36 and 41 ,device adaptor 1500 has arm attachment blocks 1531, 1532, 1533 and 1534 each havingfastener portions 1700 that can attach to a UAV bar. Eachfastener 1700 can be “C” shaped, so as to releasably snap fit to one of UAV bars 202 or 204. Arm attachment blocks 1531, 1532, 1533 and 1534 are housed respectively incompartments Arm attachments first UAV bar 202, andarm attachments second UAV bar 204 ofUAV 200, as shown inFIG. 41 .Device adaptor 1500 has afirst side 1521, asecond side 1522 and a middle section 1525.First side 1521 includes first andsecond compartments fastener portions 1700 ofarm blocks compartments bars UAV 200.First side 1521 is connected tosecond side 1522 by a middle section 1525 having amiddle chamber 1650 that houses thepulley mechanism 1600,pulley cables rollers FIG. 36 .Second side 1522 includes third andfourth compartments fastener portions 1700 ofarm blocks compartments bars UAV 200. Together thefasteners 1700 ofarm blocks first bar 202 ofUAV 200. Together thefasteners 1700 ofarm blocks second bar 204 ofUAV 200.Device adaptor 1500 has afirst side 1521, asecond side 1522, athird side 1523 and afourth side 1524 as shown onFIG. 35 . -
Device adaptor 1500 hasbraces second side braces adaptor 1500. Triangularly shaped holes between each of thebraces device adaptor 1500. - Each of
compartments inner walls 1581 andouter walls 1582, and top andbottom walls cavity 1560. Eachcavity 1560 of eachcompartment Inner walls 1581 face towards center portion 1525, whileouter walls 1582 face away from center portion 1525.Top walls 1583face UAV 200, whilebottom walls 1584face cage 1120.Inner walls 1581 havecompartment slots 1556, andouter walls 1582 havecompartment slots 1555.Slots walls - Arm attachment blocks 1531, 1532, 1533 and 1534 are all identical to each other. Each of the attachment blocks 1531, 1532, 1533 and 1534 have an
upper surface 1585 and an opposinglower surface 1586, and first and second opposingside surfaces cavities 1560 of eachcompartment upper surface 1585 faces towardsUAV 200, andlower surface 1586 faces towardscage 1120. First andsecond side surfaces circular recesses arm attachment block cylindrical cavity 1566, having a circular opening oninner surface 1567 of each attachment block.Inner surface 1567 of each attachment block is the surface that is first loaded into eachcavity 1560 when the attachment blocks are housed in eachcompartment spring 1565 is housed in eachcylindrical cavity 1566 of eacharm attachment block spring 1565 when loaded into an arm block that is then installed in a chamber of the device adaptor, is compressed between the arm block and aninterior wall 1599 of each chamber, and thereby provides a biasing force against each arm block as shown inFIG. 38 . - Each
cylindrical cavity 1567 has a circular opening with a diameter that is greater than the diameter of the coils of each ofsprings 1565. Thetop surface 1585 of eachattachment block openings cylindrical cavity 1566, so thatpulley cables openings cylindrical cavity 1566.Opening 1597 is wider than opening 1596, and also wider than retainingend 1607.Opening 1596 is wider than eachpulley cable pulley cable spring 1565. - Each of
compartments recess 1570 which provides access frommiddle chamber 1650 to each compartment for each ofpulley cables Chamber 1650 has a hollow portion that provides a hole or entry at a bottom portion ofadaptor 1500, which allowspulley cables hollow tubes attachment 1480 and intoadaptor 1500.Pulley cables pulley mechanism 1600, housed inchamber 1650, as shown inFIGS. 36, 37 and 40 . - Referring to
FIGS. 36-40 ,pulley cables first end 1605 of each pulley cable is connected to or tied tocenter rod 1433 ofattachment mechanism 1430. Eachsecond end 1606 of each cable is connected to a retainingend 1607. Retainingend 1607 can be cylindrical in shape. Retaining ends 1607 are able to fit intoopenings 1597 in each attachment arm, and each pulley cable is meant to be able to fit intoopening 1596. Eachpulley cable poles attachment 1480 and intocompartment 1650 ofadaptor 1500. -
Pulley mechanism 1600 includes abolt 1627, andpulleys nut 1628.Bolt 1627 runs through ahole 1670 in the center portion 1525, through the center ofpulleys hole 1671 in center portion 1525 as shown inFIG. 40 .Bolt 1627 is secured toadaptor 1500 bynut 1628. Pulleys 1621, 1622, 1623 and 1624 are able to rotate when mounted onbolt 1627. Each ofpulley cables pulleys cables pole assembly 1400, and the horizontal plane is defined as being perpendicular to the vertical plane.Pulley mechanism 1600 when installed is located at the center of center portion 1525 ofadaptor 1500. - In some embodiments, when
pulley cables pulley mechanism 1600 in order to be routed to afirst side 1521,cables pulleys pulleys pulley cables pulley mechanism 1600 in order to be routed to asecond side 1522,cables pulleys pulleys cables first side 1521, and use theinternal pulleys cables outer pulleys FIG. 36 showscables pulley mechanism 1600 towards afirst side 1521, and being guided overinternal pulleys cables second side 1522 and guided overexternal pulleys - Referring to
FIGS. 36 and 40 ,rollers compartment 1650 and secured toadaptor 1500 bybolts Nuts bolts cover 1630 through two holes in the cover.Cover 1630 coverscompartment 1650 ofadaptor 1500.Cover 1650 has a snap fit connector that releasably connects toportions 1629 ofbolt 1627 that are not covered bypulleys - Two
pulley cables roller 1611, towardsfirst side 1521.Cable 1601 is guided throughhole 1570 ofcompartment 1541, and through the center of aspring 1565, as shown inFIGS. 36-37 .Cable 1602 is guided throughhole 1570 ofcompartment 1542, and through the center of aspring 1565, as shown inFIG. 37 . The remaining twopulley cables roller 1612 towardssecond side 1522.Cable 1603 is guided throughhole 1570 ofcompartment 1543, and through the center of aspring 1565.Cable 1604 is guided throughhole 1570 ofcompartment 1544, and through the center of aspring 1565. -
Rollers cables pulley cable 1601 is vertical withinpole assembly 1400, thenpulley mechanism 1600 changes the direction of the force transmitted bycable 1601 to a horizontal orientation.Roller 1611 is then able to change the direction of the force by 90 degrees in the horizontal plane so that the direction of the force transmitted bypulley cable 1601 is directed away fromarm block 1531. Therefore, whenpulley cable 1601 is installed inarm block 1531, andarm block 1531 is installed inchamber 1541,cable 1601 is able to pullarm block 1531 towards the interior ofcavity 1560, when a force is applied.Cable 1602 is wrapped aroundroller 1611 in an opposite direction fromcable 1601 and can similarly pullarm block 1532 further intocavity 1560 whenarm block 1532 is installed inchamber 1542.Roller 1612 similarly allowspulley cables arm blocks cavities 1560 ofchambers - Retaining
end 1607 of each cable is placed intoopening 1597 of each arm block. The retainingend 1607 of each cable is then retained by eachcylinder cavity 1566 of each arm block, along with eachspring 1565. When fully assembled eacharm block respective cables compartments circular recesses 1590 throughslots 1555, and pinpairs 1558 are installed incircular recesses 1591 throughslots 1556, thereby preventing each block arm from being forced out of eachcavity 1560, by the biasing force of eachspring 1565. Eachblock arm cavity 1560 of each compartment. Pin pairs 1557 and 1558 restrict the maximum distance each arm block may travel towards the exterior or interior of each compartment, as the pin pairs 1557 and 1558 are halted by the size of theslots - When
device 1000 is fully assembled, eachblock arm springs 1565 towards the exterior of eachcompartment cable center arm 1433 ofattachment mechanism 1430 comes to rest in a first position adjacent tocurved portion 1442 ofslots arm blocks cavity 1560 of eachcompartment pin pairs slots - When a user provides enough force to move
center arm 1433 from its first position into a second position that is adjacent tocurved portion 1443 ofslots cable spring 1565, so that eachblock arm compartment FIGS. 23 and 29 , a user can transmit the required force with one hand to retract eachblock cavity 1560, by placing a finger underneathconnector 1155 ofcage 1120 at aportion 1156, and place a finger on eachgrip mechanism 1430. The user can then squeeze their fingers together to movemechanism 1430 from a first position atcurved portion 1442 to a second position atcurved portion 1443, to retrack the arm blocks. - Referring to
FIGS. 36 and 41 , eacharm block fastener portion 1700 that is able to releasably detach from aUAV bar fastener portion 1700 also has aguide extension 1701 that protrudes from the lower portion offastener 1700. The lower portion of faster 1700 being the portion that is adjacent tolower surface 1586 of each attachment block.Extension guide 1701 protrudes out further thanfastener 1700 and is the first portion of eacharm block UAV bars water sampling device 1000 toUAV 200.Extension guide 1701 is angled downward so that when a user releases thelocking mechanism 1430 from a second position back its first position, the biasing ofsprings 1565 push arm blocks 1531, 1532, 1533 and 1534 outward toward the UAV bars 202 and 204, the bars travel upward alongextension guide 1701 and intofasteners 1700. Thesprings 1565 are able to overcome the bias of materials offasteners 1700 so thatfasteners 1700 releasably snap fit ontobars - Referring to
FIG. 41 ,arms UAV 200 are shown disconnected fromUAV 200, for the purpose of illustrating howdevice 1000 connects toUAV 200.Arms UAV 200, whendevice 1000 is being connected toUAV 200. WhenUAV 200 hovers above a user, the user will grab the fully assembleddevice 1000, andmove mechanism 1430 as described above from a first position down to a second position and hold the mechanism at the second position. With each of the arm blocks 1531, 1532, 1533 and 1534 retracted, the user will liftdevice 1000 closer to the bottom ofUAV 200, so as to ensure each fastener is relatively adjacent to armbars mechanism 1430 so that it travels back to its first position, thereby causing the arm blocks to extend. When the arms fully extend andfasteners 1700meet arm bars spring 1565, overcomes the bias of materials of eachfastener 1700, so that eachfastener 1700 temporarily expands to receive and attach to one ofbars springs 1565, along with the shape of thefasteners 1700 keep the arm blocks 1531, 1532, 1533 and 1534 securely attached to the arm bars 202 and 204 ofUAV 200, until a user grabsdevice 1000, and applies a force tomechanism 1430 to move the mechanism from the first position to a second position. When a user moves the mechanism from the first position to a second position, the user must apply enough force to overcome the biasing force of eachspring 1565, and the bias of materials of eachfastener 1700, so that the each fastener temporarily expands to release each ofbars release device 1000 from underneath aUAV 200, while theUAV 200 is hovering above the user. - Accordingly, no screws, bolts or the like are needed to connect
water sampling device 1000 toUAV 200. IfUAV 200 did not havefirst bar 202 andsecond bar 204, then UAV can be subsequently modified to includefirst bar 202 andsecond bar 204. - Referring to
FIGS. 21 and 42 ,water sampling device 1000 is designed to plunge below the surface of a liquid reservoir because it is important not to gather the surface water for most water sampling testing. Other water sampling devices have not been able to offset buoyancy or negatively affect pitch, roll and yaw of the UAV poorly. These other devices simply float on the water which is undesirable.Water sampling device 1000, besides for offsetting buoyancy, also balances weight onUAV 200 properly. As discussed above, water sampling is a relatively simple mission for UAVs. However, after some tests, it shows that an empty water sampling vessel creates force (buoyancy) that is affecting the UAV dynamics and might risk the operation. For reference, using a 500mL sampling bottle 1110 and a 1 meter pole forassembly 1400, will force the UAV to Roll compensate for 3.5-5 Nm. To solve this problem, the mass ofwater sampling device 1000 should be slightly higher than the buoyancy force. Roll is one of the forces in aerodynamics. Pitch, Roll and Yaw, are also known as the “Principal Axes” or “Axes of Rotation”, that include: Lateral Axis (Pitch), Longitudinal Axis (Roll) and Vertical Axis (Yaw). It is important that the UAV, withwater sampling device 1000, not compromise the flying safety (pitch, roll, yaw) of the drone. - When
device 1000 is connected or attached toUAV 200, and is submerged in aliquid reservoir 300, the liquid can subject thedevice 1000, includingbottle 1110,cage 1120 andpole assembly 1400, to forces that destabilize and negatively affect the flying dynamics ofUAV 200. In order to counteract this,UAV 200 can minimally tilt in the same direction of the destabilizing force, so thatpole assembly 1400 bends towards the direction of the destabilizing force, and thereby creates a counteracting force in apole assembly 1400, in a direction that opposes the destabilizing force created by the liquid. This can be seen inFIG. 42 , which shows an exaggerated tilting ofUAV 200, and an exaggerated bend inpole assembly 1400 for purposes of illustration. This movement allowsbottle 1110 to settle again in a stable center of gravity and restores control toUAV 200. - When
UAV 200 tilts to either direction, either due to corrective tilt during flight byUAV 200 or when contact with water causes thedevice 1000 to be subjected to forces,dampers FIG. 42 , so that some of the forces are absorbed, providing added flight stability toUAV 200, and thereby ensuring the safe and proper collection of a water sample bydevice 1000. - Referring to both
device 100 anddevice 1000, both water sampling devices are compatible with a Matrice UAV.Water sampling device 1000 and/or 1000 can be used ondifferent UAVs 200. As long as these different UAVs can carry the payload weight ofwater sampling device first bar 202 andsecond bar 204, on the bottom,water sampling device 100 and/or 1000 can be customized to other UAVs. However, flight testing may still need to be conducted with a different UAV connected towater sampling device - In some embodiments,
device -
Adaptor adaptor 500 and/or 1500 when connected toUAV 200 can be used to sample water having mosquito and/or mosquito larva for testing. Another example,adaptor 500 and/or 1500 when connected toUAV 200 can be used to sample water in highly contaminated areas so that the user does not have to be exposed to the highly contaminated areas. -
Water sampling device water sampling device -
Water sampling device adaptor body 502 can be 3D printed. - Testing shows that samples can be collected by
water sampling device 100 and/or 1000 four times more quickly over earlier techniques. For example, techniques that require people in a boat to collect water samples with gloved arms can lead to contamination and require an undesirable amount of labor.Water sampling device -
UAV 200 connected towater sampling device water sampling device -
Devices -
Devices - In some embodiments, the bottles of
devices embodiments devices - With regards to
devices UAV bars device - While the present disclosure has been described with reference to one or more exemplary embodiments, it will be understood by those skilled in the art, that various changes can be made, and equivalents can be substituted for elements thereof without departing from the scope of the present disclosure. In addition, many modifications can be made to adapt a particular situation or material to the teachings of the present disclosure without departing from the scope thereof. Therefore, it is intended that the present disclosure will not be limited to the particular embodiments disclosed herein, but that the disclosure will include all aspects falling within the scope of a fair reading of appended claims.
Claims (20)
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US17/067,270 US20210223144A1 (en) | 2019-10-11 | 2020-10-09 | Water sampling device |
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US201962913786P | 2019-10-11 | 2019-10-11 | |
US17/067,270 US20210223144A1 (en) | 2019-10-11 | 2020-10-09 | Water sampling device |
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US20210223144A1 true US20210223144A1 (en) | 2021-07-22 |
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US17/067,270 Pending US20210223144A1 (en) | 2019-10-11 | 2020-10-09 | Water sampling device |
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CN116699095A (en) * | 2023-08-08 | 2023-09-05 | 常州博润达自动化科技有限公司 | River water on-line measuring device |
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WO2021072242A1 (en) * | 2019-10-11 | 2021-04-15 | Reign Maker Visual Communications Llc | Water sampling device |
CN114152478A (en) * | 2021-12-09 | 2022-03-08 | 河南省驻马店水文水资源勘测局 | Anti-pollution sampling device for water quality assay |
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CN114514417A (en) | 2022-05-17 |
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